we try to control the boat to drive backward with the ros2 command ros2 topic pub --rate 10 /mavros/setpoint_raw/attitude mavros_msgs/msg/AttitudeTarget “{
header: {
stamp: {sec: 0, nanosec: 0},
frame_id: ‘base_link’
},
type_mask: 39,
orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0},
body_rate: {x: 0.0, y: 0.0, z: 0.0},
thrust: -1
}”
but the boat will stay still at current position. We also try another command
ros2 topic pub --rate 10 /mavros/setpoint_raw/local mavros_msgs/msg/PositionTarget “{
header: {
stamp: { sec: 0, nanosec: 0 },
frame_id: ‘map’
},
coordinate_frame: 9,
type_mask: 3559,
position: { x: 0.0, y: 0.0, z: 0.0 },
velocity: { x: -1.0, y: 0.0, z: 0.0 },
acceleration_or_force: { x: 0.0, y: 0.0, z: 0.0 },
yaw: 0.0,
yaw_rate: 0.0
}”
and the boat will turn 180 degree then move forward instead of just going backward. What will be the right command or topic to drive backward?